针对智能化机器人焊接系统（IRWS）及其动态过程的混杂系统（HS）特征，研究基于HS框架下IRWS混杂逻辑动态（MLD）建模与控制方法及其应用问题。形成面向IRWS及其焊接过程的MLD建模、分析、控制器设计及应用的系统化理论方法，发展HS的MLD建模与控制的新理论和新方法，推进MLD建模与控制方法在IRWS及复杂焊接工艺制造过程控制中的应用。研究将建立针对IRWS的HS理论框架描述；建立IRWS焊接过程中连续分段线性与非线性特性及其约束条件、知识规则、逻辑变量作用等特点的混杂系统MLD模型；给出IRWS的 MLD建模中命题逻辑向混合整数不等式转换的方法；基于建立的IRWS-MLD模型，针对IRWS及其焊接过程控制难点提出相应的预测与优化控制方法；给出相应IRWS-MLD模型控制的MIQP问题求解方法；依托海洋工程装备关键部件机器人焊接生产线背景，推进HS的MLD建模与控制方法的应用创新。

Aiming at the characteristics of the Hybrid System（HS）of Intelligentized Welding Robot Systems (IRWS) and its dynamical process, the HS-MLD modeling and control method and its application for IRWS are studied in this proposal. As a result, a kind of systematic approach for IRWS and its welding dynamical process will be established by MLD modeling, analysis, control and applications.These research works will not only develope and new results on HS theory of MLD modeling and control, but also promote its effective applications in IRWS welding process and other similar complex manufacturing process. The continuous piecewise-linear and the nonlinear characteristics in IRWS and weldding process with some constraints, knowledge rules and logical variables are described as a kind of hybrid MLD model. An effective method on the conversion between proposition logic and mixed integer inequality will be proposed, which is suitable for MLD modeling of IRWS welding process. Based on the MLD model of IRWS weld dynamical process, the corresponding prediction and control method will be developed for the difficulties in optimization of IRWS and and control of welding process. The solution of MIQP problem for the MLD model of IRWS welding dynamical process will be given. Finally, some innovative researched results on HS-MLD modeling and control of IRWS welding process will be experimented and applied to the robotic welding product lines for the ocean equipment manufacturing product line.